103 lines
1.9 KiB
C++
103 lines
1.9 KiB
C++
/*
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* peripherals_motors.hpp
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*
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* Created on: Feb 24, 2021
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* Author: erki
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*/
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#ifndef PERIPHERALS_MOTORS_HPP_
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#define PERIPHERALS_MOTORS_HPP_
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namespace Peripherals
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{
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template<typename T>
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struct TwoChannelMotorData
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{
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using pwm_channel = T;
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pwm_channel forward;
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pwm_channel backward;
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};
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class IMotors
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{
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public:
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virtual void Set(const std::int16_t left, const std::int16_t right) = 0;
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virtual void Coast() = 0;
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virtual void Break() = 0;
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};
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template<typename T, typename I>
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class DualDrvMotors : public IMotors
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{
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public:
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using single_motor = TwoChannelMotorData<T>;
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using gpio = I;
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DualDrvMotors(const single_motor& left, const single_motor& right, const gpio& sleep_pin)
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: _left(left)
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, _right(right)
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, _sleep_pin(sleep_pin)
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{
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_left.forward.Enable();
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_left.backward.Enable();
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_right.forward.Enable();
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_right.backward.Enable();
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Set(0, 0);
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}
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virtual void Set(const std::int16_t left, const std::int16_t right) override
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{
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if (left > 0)
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{
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_left.forward.SetCompare(left);
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_left.backward.SetCompare(0);
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}
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else
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{
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_left.forward.SetCompare(0);
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_left.backward.SetCompare(-1 * left);
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}
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if (right > 0)
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{
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_right.forward.SetCompare(right);
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_right.backward.SetCompare(0);
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}
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else
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{
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_right.forward.SetCompare(0);
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_right.backward.SetCompare(-1 * right);
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}
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}
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virtual void Coast() override
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{
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_left.forward.SetCompare(0);
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_left.backward.SetCompare(0);
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_right.forward.SetCompare(0);
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_right.backward.SetCompare(0);
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}
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virtual void Break() override
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{
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_left.forward.SetCompare(_left.forward.MaxValue());
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_left.backward.SetCompare(_left.backward.MaxValue());
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_right.forward.SetCompare(_right.forward.MaxValue());
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_right.backward.SetCompare(_right.backward.MaxValue());
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}
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private:
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single_motor _left;
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single_motor _right;
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gpio _sleep_pin;
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};
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}
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#endif /* PERIPHERALS_MOTORS_HPP_ */
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